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>Lego Mindstorm with Linux Mini-HOWTO</TH
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><A
NAME="BASICS"
>2. Mindstorm $B$N%"!<%-%F%/%A%c(B</A
></H1
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN61"
>2.1. $B4pK\%O!<%I%&%'%"(B</A
></H2
><P
>
$B$4B8CN$J$$J}$N$?$a$K=q$-$^$9$,!"(BLego $B$N(B Mindstorm $B$N%-%C%H$O!"(B
$B%m%\%C%H9)3X$N%-%C%H$G!"(BLego $B%0%k!<%W$+$iLs(B 200 US $B%I%k$GH/Gd(B
$B$5$l$F$$$^$9!#%-%C%H$NCf?H$O!"(BLego $B$N$?$/$5$s$N%V%m%C%/$H!$(BRCX
$B$H$$$&$b$N(B (CPU $B$H(B LCD $B$H$$$/$D$+$N%3%M%/%?$,IU$$$?Bg$-$J%V%m%C(B
$B%/(B) $B$H!"Fs$D$N%b!<%?$H!"(B($B303&$H$N8r?.MQ$N(B) $B8w%;%s%5$HFs$D$N%?%C(B
$B%A%;%s%5$G$9!#(B
</P
><P
>
RCX $B%-%C%H$N8=:_$N%j%j!<%9$O!"%P!<%8%g%s(B 1.5 $B$G!"(B2001 $BG/$N=U!"(B
RCX 2.0 $B$KCV$-49$o$kM=Dj$G$9!#:#$N$H$3$m!"$3$NJ8=qFb$G(B
<SPAN
CLASS="QUOTE"
>"RCX"</SPAN
> $B$H8@$C$?;~$O!"(B<SPAN
CLASS="QUOTE"
>"RCX 1.x"</SPAN
> $B$r0UL#(B
$B$7$^$9!#(B1.0 $B$H(B 1.5 $B$N0c$$$O!":3:Y$G$9$,!"(B1.5 $B$+$i(B 2.0 $B$X$NJQ99(B
$B$O$+$J$jBg$-$J$b$N$G$9(B - $B87L)$JJQ99$NHO0O$O!"$^$@!"$o$+$j$^$;$s!#(B
</P
><P
>
$B$b$C$H%O!<%I%&%'%"$N>\:Y$r3X$S$?$$$J$i(B ($B$H$O$$$(!"$=$l$i$O(B RCX
$B$N%W%m%0%i%`$N0l8l0l8l$,2?$r0UL#$7$F$$$k$N$+$r8+$k$?$a$K!"C`8l(B
$BE*$K%G%#%9%"%;%s%V%k$7$F$$$k?M$?$A$+$i$NJs9p$J$N$G!"FI$`$N$,%$(B
$B%d$K$J$k$/$i$$>\$7$+$C$?$j$9$k$N$G$9$,(B)$B!"Fs$D$N=EMW$J%&%'%V%5(B
$B%$%H$,$"$j$^$9(B - <A
HREF="http://www.crynwr.com/lego-robotics/"
TARGET="_top"
>Russell Nelson's Lego Mindstorms Internals</A
> $B$H(B <A
HREF="http://graphics.stanford.edu/~kekoa/rcx/"
TARGET="_top"
>Kekoa Proudfoot's RCX Internals</A
> $B$rK,$l$F$/$@$5$$!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN70"
>2.2. $BI8=`$N(B RCX $B%W%m%0%i%_%s%0(B</A
></H2
><P
>
Linux $B$+$i(B Mindstorm $B$rF0:n$5$;$k$?$a$N$$$m$$$m$JJ}K!$rM}2r$9$k(B
$B$?$a$N<j$,$+$j$O!"$O$8$a$K!"(BMindstorm $B%-%C%H$,(B MS Windows $B$G@5>o(B
$B$KF0:n$7$F$$$k;~$N;EAH$rM}2r$9$k$3$H$G$9!#(B
$B4JC1$K8@$&$H!"(BLego $B$+$iDs6!$5$l$k(B MS Windows $B>e$N%=%U%H%&%'%"%D!<(B
$B%k$r;H$($P!"C/$G$b(B ($B$"$k$$$O$?$V$s!"(B12-14 $B:M$/$i$$$N;R6!$,(B) $B$A$g(B
$B$&$I@QLZ$rAH$_N)$F$k$h$&$J463P$G!"%0%i%U%#%C%/$rA`:n$7$F(B
Mindstorm $BMQ$N%W%m%0%i%`$r:n@.$G$-$^$9!#$3$NJ}K!$G%W%m%0%i(B
$B%`$,(B <SPAN
CLASS="QUOTE"
>"$BAH$_N)$F(B"</SPAN
> $B$i$l$k$H!"$=$N%=%U%H%&%'%"$O!"%W(B
$B%m%0%i%`$r(B byte-code $B$K%3%s%Q%$%k$7$^$9!#<!$K!"$3$N(B byte-code
$B$O!"%m%\%C%H$K%@%&%s%m!<%I$5$l!"$=$7$F$=$3$G!"(BRCX $B$N%U%!!<%`%&%'(B
$B%"$,(B byte-code $B$r=hM}$7!"(Bbyte-code $B$NL?Na$K4p$E$-%^%7%s$r@)8f(B
$B$7$^$9!#(Bbyte-code $B$N9=J82r@O$K2C$(!"(BRCX $B%U%!!<%`%&%'%"$O!"(BOS
$B$K;w$?B?$/$N5!G=$r;}$C$F$$$^$9(B - $B%O!<%I%&%'%"$N@)8f!"%9%l%C%I!"(B
$B$=$7$F!"FC$K%m%\%C%H$H$NDL?.$K;H$o$l$k(B IR $B%]!<%H$N@)8f$N5!G=$G(B
$B$9!#(BIR $B%]!<%H$+$i$N(B ($B40A4$J%W%m%0%i%`$KHf$7$F(B) $BFCJL$J%3%^%s%I!"(B
$B$b$7$/$O!"FCJL$J%j%b!<%H@)8f%3%^%s%I$r<uIU$1$kG=NO$b$"$j!"$=$l(B
$B$i$N%3%^%s%I$K4p$E$-%m%\%C%H$rF0$+$7$^$9!#(B
</P
><P
>
$BI8=`$N%U%!!<%`%&%'%"$O!"8=:_(B (RIS $B%P!<%8%g%s(B 1.5 $B$r9XF~$7$?$H$7(B
$B$F$b(B) $B%P!<%8%g%s(B 1.0 $B$G$9!#$3$l$O!"$H$F$b?<9o$J@)8B$,$"$j$^$9(B -
$B$?$H$($P!"$=$l$>$l$NJQ?t$O!"(BRAM $B$G$O$J$/!"%l%8%9%?$K3JG<$5$l$k$N(B
$B$G!"$?$C$?(B 32 $B$NJQ?t$7$+;}$F$^$;$s!#$7$+$7!"$=$l$G$b$+$J$j$+$C$3(B
$B$$$$$3$H$,$G$-!"%U%!!<%`%&%'%"$N%P!<%8%g%s(B 2.0 ($B$3$N%Y!<%?%P!<(B
$B%8%g%s$,(B <A
HREF="http://www.legomindstorms.com/sdk2/"
TARGET="_top"
>LEGO</A
> $B$+$iF~<j$G$-$^$9!#(B) $B$G$O!"$3$l$i$N@)8B$,$+$J$j4KOB(B
$B$5$l!"(B1.x $B%O!<%I%&%'%"$KBP$9$k2<0L8_49@-$bJ]$?$l$k$O$:$G$9!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN76"
>2.3. Linux $B%D!<%k$,E,9g$9$k$H$3$m(B</A
></H2
><P
>
Linux $B>e$G$N(B Mindstorms $B%W%m%0%i%`$O!"A0$N>O$G=R$Y$?%=%U%H%&%'(B
$B%"$N%;%C%H$N0lIt$r$=$l$>$lFH<+$N%=%U%H%&%'%"$KCV$-49$($k$+$?$A(B
$B$G5!G=$9$k$h$&$K$J$C$F$$$^$9!#$"$k%W%m%0%i%`$O!"I8=`$N(B Lego
$B%U%!!<%`%&%'%"$rFH<+$N(B OS $B%i%$%/$J%7%9%F%`$d8@8l%$%s%?!<%W%j%?(B
$B$X$H40A4$KCV$-49$($F$7$^$$$^$9!#$=$l0J30$N%W%m%0%i%`$O!"I8=`$N(B
Lego byte-code $B$K0lCW$7$?(B byte-code $B$r@8@.$9$k$N$G!"$=$&$7$?(B
byte-code $B$5$(@8@.$5$l$l$P!"$=$N2r<a(B($B%$%s%?!<%W%j%H(B)$B$K$OI8=`$N(B
$B%U%!!<%`%&%'%"$r;H$$$^$9!#:G8e$K!"%m%\%C%H>e$G<B:]$K2?$+$r<B9T(B
$B$9$k$?$a$N$b$N$rM?$($k$3$H$J$/!"%[%9%H(B PC $B$+$i%m%\%C%H$r@)8f$9(B
$B$k$?$a$N%j%b!<%H@)8fMQ%3!<%I$@$1$r@8@.$9$k%W%m%0%i%`$b$"$j$^$9!#(B
$B$=$&$7$?%W%m%0%i%`$N>l9g$b!"I8=`$N(B Lego $B%U%!!<%`%&%'%"$r;H$$$^$9!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN79"
>2.4. Linux $B%[%9%HMQ%O!<%I%&%'%"$NI,?\>r7o(B</A
></H2
><P
>
$B%D!<%k$NBgItJ,$O%3%^%s%I7A<0$J$N$G!"%O!<%I%&%'%"$NI,?\>r7o$O:G(B
$BDc8B$G!"4pK\E*$K$I$s$J(B Linux $B%7%9%F%`$G$bF0:n$9$k$O$:$G$9!#(B
</P
><P
>
$BNc30$,0l$D$@$1$"$C$F!"%7%j%"%k%]!<%H$O$I$&$7$F$bI,MW$G$9(B ($B:G?7(B
$B$N%l%,%7!<%U%j!<$J%^%7%s$K$OL5$$$+$b$7$l$^$;$s(B)$B!#(BRCX $B$H$NDL?.(B
$B$O!"%^%7%s$N%7%j%"%k%]!<%H$K$D$J$,$C$?(B IR tower $B$r7PM3$7$^$9!#(B
$B$D$^$j!"%7%j%"%k%]!<%H$,$J$$%^%7%s$G$O%"%@%W%?$rGc$o$J$$$+$.$j(B
RCX $B$r;H$($^$;$s!#$5$i$K!"(BIRQ $B$d%7%j%"%k%]!<%H$,6%9g$7$F$-$A$s(B
$B$HF0$+$J$$$3$H$K$J$k$+$b$7$l$^$;$s!#$3$l$O!"FC$K!"%b%G%`$,(B
/dev/ttyS0 $B$r;H$C$F$$$k>l9g$G$9!#BP=h$O#3$D$"$j$^$9(B - $B0l$D$O!"(B
$B#2HVL\$N%7%j%"%k%]!<%H$r(B IR tower $BMQ$K;HMQ$7$^$9!#$[$H$s$I$N>l(B
$B9g!"$3$l$GF0:n$9$k$O$:$G$9!#$3$l$G%@%a$J$i!"%b%G%`$H(B RCX $B$NF1(B
$B;~;HMQ$r;_$a$^$9!#$3$l$,<u$1F~$l$i$l$J$$$J$i!"<!$K!"(B
(<SPAN
CLASS="QUOTE"
>"extended dumb serial driver options"</SPAN
> $B$N2<$N(B)
<SPAN
CLASS="QUOTE"
>"support for sharing serial interrupts"</SPAN
> $B$N%+!<%M(B
$B%k%3%s%Q%$%k%*%W%7%g%s$rD4$Y!"$=$l$r%*%s$K$7!":F%3%s%Q%$%k$7$F(B
$B$/$@$5$$!#(B
</P
><P
>
Mac $B$OI8=`E*$J%7%j%"%k%]!<%H$,IU$$$F$$$J$$$N$G!"(BLinuxPPC $B%f!<%6(B
$B$O%"%@%W%?$rF~<j$7!"%D!<%k$r;H$&$?$a$K$$$/$D$+$NJQ99$r$7$J$1$l(B
$B$P$J$i$J$$$+$b$7$l$^$;$s!#(BNQC $B$N:n<T$G(B Mac $B%f!<%6$G$"$k(B Dave
Baum $B$O!"$3$N$?$a$NJ}K!$r(B <A
HREF="http://www.enteract.com/~dbaum/nqc/doc/faq.html#irmac"
TARGET="_top"
>$B@bL@(B</A
>$B$G=q$$$F$$$^$9!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN87"
>2.5. CyberMaster $B$H(B Scout</A
></H2
><P
>
RIS $B$K2C$(!"(BLego $B$OB>$K#2$D$N%m%\%C%H9)3X%7%9%F%`$r:n$j$^$7$?(B
- ($B%h!<%m%C%Q$@$1$GF~<j2DG=$J(B) CyberMaster $B$H(B Scout $B$G$9!#;DG0(B
$B$J$,$i!"$3$l$i$,B>$N%D!<%k$HF0:n$9$k$N$O!"0l$D(B (<A
HREF="nqc.html"
>Section 5</A
> $B$G=R$Y$k(B NQC) $B$@$1$N$h$&$G$9!#Bg$6$C$Q$J8@$$J}(B
$B$r$9$l$P!"(BScout $B$N9XF~$r9M$($F$$$F!"$"$^$j>.8/$$$K:$$C$F$$$J$1$l(B
$B$P!";W$$@Z$C$F(B RCX $B$r9XF~$7$J$5$$(B - $BDI2C$GJ'$C$?0J>e$N2ACM$,$"$j(B
$B$^$9!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN91"
>2.6. Mindstorm $B$N(B Vision Command</A
></H2
><P
>
<A
HREF="http://mindstorms.lego.com/products/vision/index.asp"
TARGET="_top"
>Vision Command</A
> kit $B$O!"?7$7$/DI2C$5$l$?(B Mindstorm $B%7(B
$B%j!<%:$N0l$D$G!"(BUSB $B%+%a%i$r;H$C$F2?$+$+$C$3$$$$$3$H$,$G$-$^$9!#(B
$B;DG0$J$,$i!"(BUSB $B%+%a%i%5%]!<%H(B ($BFC$K(B USB Quickcam $B%5%]!<%H(B) $B$O!"(B
$B$^$@!"(BLinux $B2<$G$OIT0BDj$G!"$3$N$?$a$3$N@=IJ$O(B Linux $B2<$G$O$^$@(B
$B%5%]!<%H$5$l$^$;$s!#$=$l$r%O%C%/$7$?$$$J$i!"(B<A
HREF="http://hotswap.in.tum.de/~acher/quickcam/quickcam.html"
TARGET="_top"
>$B$3$N%Z!<%8(B</A
>$B$r8+$F$/$@$5$$!#$3$3$K$O!"$h$/;w$?(B Quickcam
$B8~$1$N%I%i%$%P$b$"$j$^$9!#(B
</P
></DIV
><DIV
CLASS="SECT2"
><H2
CLASS="SECT2"
><A
NAME="AEN96"
>2.7. MS Windows CD $B$K$D$$$F$N=EMW$JCm0U(B</A
></H2
><P
>
$B2<5-$N$?$/$5$s$N%W%m%0%i%`$,8x<0$N(B Lego $B%U%!!<%`%&%'%"$r;H$C$F(B
$B$$$k$N$G!"(BMS Windows CD $B$,I,MW$+$b$7$l$^$;$s!#(BMS Windows $B$r%V!<(B
$B%H$9$kI,MW$O$"$j$^$;$s(B - $B;~4V$rES@Z$l$5$;$:$K$9$_$^$9$M(B :) $B$7(B
$B$+$7!"(B($B$H$j$o$1(B NQC $B$+(B RCX.pm $B$r<B9T$9$k$J$i(B) $BEECS@Z$l$N;~$K!"(B
$B%U%!!<%`%&%'%"$rF@$k$?$a$K(B CD $B$r%^%&%s%H$9$kI,MW$,$"$k$+$b$7$l$^(B
$B$;$s!#$J$k$Y$/%^%&%s%H$7$?$/$J$$$J$i!"(BCD $B>e$N%U%!%$%k(B
<TT
CLASS="FILENAME"
>firm0309.lgo</TT
> $B$rC5$7!"(BLinux $B%Q!<%F%#%7%g%s>e(B
$B$N0BA4$J>l=j$K%3%T!<$7$F$/$@$5$$!#(B
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